CN104528555A - Main arm variable amplitude controlling system for crane and crane - Google Patents

Main arm variable amplitude controlling system for crane and crane Download PDF

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Publication number
CN104528555A
CN104528555A CN201410798588.XA CN201410798588A CN104528555A CN 104528555 A CN104528555 A CN 104528555A CN 201410798588 A CN201410798588 A CN 201410798588A CN 104528555 A CN104528555 A CN 104528555A
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China
Prior art keywords
valve
control
solenoid
principal arm
oil
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CN201410798588.XA
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CN104528555B (en
Inventor
李怀福
李英智
郭纪梅
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Zoomlion Heavy Industry Science and Technology Co Ltd
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Zoomlion Heavy Industry Science and Technology Co Ltd
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/82—Luffing gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/20—Control systems or devices for non-electric drives
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
    • F15B13/042—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure
    • F15B13/043—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure with electrically-controlled pilot valves

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • General Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Fluid-Pressure Circuits (AREA)

Abstract

The invention relates to the technical field of engineering machineries, and discloses a main arm variable amplitude controlling system for a crane and the crane. The security reliability of main arm variable amplitude control under various conditions of the crane is improved. The system comprises a proportional source power reversing valve group and a variable amplitude oil cylinder, wherein the proportional source power reversing valve group is provided with a first working position which enables a first working oil hole and a second working oil hole to be respectively communicated with an oil inlet and an oil returning hole and a second working position which enables the first working oil hole and the second working oil hole to be communicated with the oil returning hole and the oil inlet; an oil inlet of the proportional source power reversing valve group is connected with a pressure oil path; the oil returning hole of the proportional source power reversing valve group is connected with the oil returning path; the first working oil hole is connected with a rod cavity of a variable amplitude oil cylinder; the second working oil hole is connected with a rodless cavity of the variable amplitude oil cylinder; the main arm variable amplitude control system also comprises a switch valve and a counterbalance valve; an oil inlet of the switch valve is connected with an oil supply path during dropping of variable amplitude; an oil outlet of the switch valve is connected with an oil inlet of the counterbalance valve; an oil outlet of the counterbalance valve is connected with an oil returning path.

Description

A kind of principal arm luffing control system of hoisting crane and hoisting crane
Technical field
The present invention relates to technical field of engineering machinery, particularly relate to a kind of principal arm luffing control system and hoisting crane of hoisting crane.
Background technology
As shown in Figure 1, the structure of existing super-tonnage crane comprises swing arm 100, and hoisting rope 110 has surpassed steel rope 120, principal arm 130 and amplitude oil cylinder 140, and wherein one end of principal arm 130 and vehicle frame 150 are articulated and connected, and the other end and swing arm 100 are articulated and connected; Amplitude oil cylinder 140 is for driving the luffing of principal arm 130 to hoist and luffing whereabouts; Hoisting rope 110 is set around on the arm head pulley of swing arm 100, for the weight that hoists; Surpassed steel rope 120 for improve hang carry operation time the force-bearing situation of principal arm and balance quality.The luffing control system that the principal arm of existing super-tonnage crane falls generally includes power and transfers luffing master mode and luffing master mode two kinds is transferred in deadweight.
Luffing master mode is transferred for power, in Fig. 2, has illustrated that power transfers the hydraulic structure schematic diagram of luffing control system.
When principal arm luffing hoists, the electromagnet Y1 of switching regulator solenoid directional control valve 200 obtains electric, switching regulator solenoid directional control valve 200 works in left position, the oil inlet P of switching regulator solenoid directional control valve 200 and actuator port B conducting, oil return inlet T and actuator port A conducting, the pressure oil of fuel tank enters the rodless cavity of amplitude oil cylinder 140 through switching regulator solenoid directional control valve 200 and balance cock 300, the pressure oil in the rod chamber of simultaneously amplitude oil cylinder 140 is through switching regulator solenoid directional control valve 200 oil sump tank, when principal arm luffing falls, the electromagnet Y2 of switching regulator solenoid directional control valve 200 obtains electric, switching regulator solenoid directional control valve 200 works in right position, the oil inlet P of switching regulator solenoid directional control valve 200 and actuator port A conducting, oil return inlet T and actuator port B conducting, the pressure oil of fuel tank enters the rod chamber of amplitude oil cylinder 140 through switching regulator solenoid directional control valve 200, the proportion electro-magnet Y3 of guide proportion reducing valve 400 obtains electric simultaneously, the control fluid of pilot control controls balance cock 300 through guide proportion reducing valve 400 and opens, pressure oil in the rodless cavity of amplitude oil cylinder 140 is through balance cock 300, switching regulator solenoid directional control valve 200 oil sump tank.
But, present inventor finds, as shown in Figure 3, when carrying out hoisting crane car load and returning the vehicle to the garage and knock off, need principal arm 130 to be transferred to the supporting mechanism of vehicle frame 150 (now principal arm is in horizontality), because super-tonnage crane hoisting capacity is large, therefore the internal diameter of amplitude oil cylinder 140 is comparatively large, the rod chamber area S of amplitude oil cylinder 1comparatively large, adopt power to transfer luffing control system and carry out principal arm when transferring action, act on the pressure F=p that rodless cavity makes principal arm transfer 1s 1comparatively large, when principal arm is transferred to horizontality, operator should stop lowering operation to ensure safety immediately.But, because operator accurately cannot judge whether principal arm is in horizontality, therefore likely occur that principal arm is in horizontality, and operator does not stop lowering operation (due to the needs that principal arm lubrication etc. is maintained, the angle transferring setting can be continued) after principal arm is in horizontality, make principal arm extrude vehicle frame supporting mechanism even vehicle frame, cause the risk that there is the distortion of hoisting crane complete vehicle structure.
Luffing master mode is transferred for deadweight, in Fig. 4, has illustrated that the hydraulic structure schematic diagram of luffing control system is transferred in deadweight.
When principal arm luffing falls, the electromagnet Y2 of switching regulator solenoid directional control valve 200 obtains electric, switching regulator solenoid directional control valve 200 works in right position, the oil return inlet T of switching regulator solenoid directional control valve and actuator port B conducting, the proportion electro-magnet Y3 of guide proportion reducing valve 400 obtains electric simultaneously, the control fluid of pilot control controls balance cock 300 through guide proportion reducing valve 400 and opens, pressure oil in the rodless cavity of amplitude oil cylinder is through balance cock 300, switching regulator solenoid directional control valve 200 oil sump tank, rod chamber and the fuel tank of amplitude oil cylinder communicate, the rod chamber volume of amplitude oil cylinder constantly increases, the fluid of fuel tank is inhaled in rod chamber.
Adopt deadweight to transfer luffing control system and carry out principal arm luffing when falling, existing super-tonnage crane because of hoisting capacity large, its amplitude oil cylinder is generally two amplitude oil cylinder, and oil cylinder internal diameter is very large.Due in luffing dropping process, because oil cylinder internal diameter is very large, make rod chamber oil absorption very large, the oil circuit between rod chamber and fuel tank produces on-way resistance, and such as, the theoretical oil absorption Q of a certain super-tonnage crane rod chamber when principal arm luffing falls is
Q = 2 π ( D 2 - d 2 ) · v · 60 4 · 10 - 6
Wherein, Q is the fluid volume of luffing rod chamber per minute oil suction; D is the internal diameter of amplitude oil cylinder; D is amplitude oil cylinder piston rod external diameter; V is the descending speed of the piston of amplitude oil cylinder; Suppose to get D=600mm, d=400mm, v=20mm/s, draw Q=376.8L/min, oil absorption is very large as can be seen here.Therefore, when principal arm luffing falling speed is very fast, on-way resistance very easily causes rod chamber oil suction not smooth, makes to produce negative pressure in luffing rod chamber, and then causes producing negative pressure in the whole hydraulic efficiency pressure system of hoisting crane and occurring potential safety hazard.
Summary of the invention
The invention provides a kind of principal arm luffing control system and hoisting crane of hoisting crane, in order to improve the safe reliability that principal arm luffing controls under the various operating mode of hoisting crane, and then improve the safe reliability of crane job.
Principal arm luffing control system provided by the invention, comprising:
Ratio driving source change-over valve group and amplitude oil cylinder, wherein, described ratio driving source change-over valve group have make the first actuator port and the second actuator port respectively with the first control position of oil inlet and return opening conducting, and make the first actuator port and the second actuator port respectively with the second control position of return opening and oil inlet conducting, the oil inlet of described ratio driving source change-over valve group is connected with pressure oil circuit, and the return opening of described ratio driving source change-over valve group is connected with oil return line;
First actuator port of ratio driving source change-over valve group is connected with the rod chamber of amplitude oil cylinder, and the second actuator port is connected with the rodless cavity of amplitude oil cylinder;
Described principal arm luffing control system also comprises: switch valve and back pressure valve, and the oil inlet of described switch valve is connected to oil passage when luffing falls, and the oil outlet of described switch valve is connected with the oil inlet of back pressure valve, and the oil outlet of described back pressure valve is connected to oil return line.
In technical solution of the present invention, the pressure release branch road that the oil passage that luffing falls is arranged, can work as when needing pressure oil to enter rod chamber with the state of " low pressure " and open, the power that effective reduction makes principal arm luffing fall, and in this course still by oil sources to rod chamber initiatively fuel feeding, there is back pressure in the branch road of pressure release simultaneously, transfers the generation that luffing pattern effectively can prevent the emptying phenomenon of the rod chamber of amplitude oil cylinder, thus improve the safe reliability of hoisting crane compared to deadweight; And, when principal arm needs with when speed falls faster, shorter or the principal arm initial fall of such as zero load, underloading, brachium is to operating modes such as the stages of falling at a slow speed, the switch valve of the pressure release branch road of the principal arm luffing control system that the present embodiment provides closes, thus make the pressure oil of oil sources can enter in the rod chamber of amplitude oil cylinder in the mode of active fuel feeding, make the falling speed of principal arm not rely on the deadweight of jib, ensure that principal arm falls with speed faster, improve operating efficiency.
Further, this principal arm luffing control system also comprises: control oil sources, the first balance cock and guide's solenoid-operated proportional reducing valve, wherein, described first balance cock is arranged on oil return line when luffing falls, the control port of described first balance cock is connected with the oil outlet of described guide's solenoid-operated proportional reducing valve, and the oil inlet of described guide's solenoid-operated proportional reducing valve is connected with described control oil sources.
Further, described ratio driving source change-over valve group is automatically controlled ratio driving source change-over valve group; Described switch valve is solenoid directional control valve;
Described principal arm luffing control system also comprises:
Principal arm luffing parameter detection device, for detecting described principal arm luffing parameter;
Described control setup, be connected with described principal arm luffing parameter detection device and described electromagnetic switch valve signal respectively, for exporting start signal according to the comparative result of detected principal arm luffing parameter and setup parameter to described solenoid directional control valve, controlling described solenoid directional control valve and opening.
On the basis of technique scheme, further, described principal arm luffing parameter detection device comprises angle detection device and current sensing means; Described principal arm luffing parameter comprises the angle of principal arm that described angle detection device detects and horizontal surface, and the control electric current of the described automatically controlled ratio driving source change-over valve group that detects of described current sensing means or described guide's solenoid-operated proportional reducing valve; Described setup parameter comprises the setting angle corresponding with the angle of horizontal surface to the principal arm of described detection, and corresponding to the automatically controlled ratio driving source change-over valve group of described detection or the control electric current of described guide's solenoid-operated proportional reducing valve first sets current threshold.
Further, described control setup, also be connected with described automatically controlled ratio driving source change-over valve group and described guide's solenoid-operated proportional reducing valve signal respectively, specifically for being less than or equal to setting angle when the angle of described principal arm and horizontal surface, and the control electric current of described automatically controlled ratio driving source change-over valve group or described guide's solenoid-operated proportional reducing valve be greater than corresponding first setting current threshold time, export the first current modifying signal/the second current modifying signal respectively to described automatically controlled ratio driving source change-over valve group/described guide's solenoid-operated proportional reducing valve, the control electric current adjusting described automatically controlled ratio driving source change-over valve group/described guide's solenoid-operated proportional reducing valve equals corresponding first setting current threshold, and export start signal to described solenoid directional control valve, control described solenoid directional control valve to open, when the angle of described principal arm and horizontal surface is less than or equal to setting angle, and the control electric current of described automatically controlled ratio driving source change-over valve group or described guide's solenoid-operated proportional reducing valve be less than or equal to corresponding first setting current threshold time, export start signal to described solenoid directional control valve, control described solenoid directional control valve and open.
Further, this principal arm luffing control system, also comprise the second balance cock in oil passage when being arranged at luffing whereabouts, the control port of described second balance cock is connected with described second actuator port.
Further, described control setup, time also for being less than or equal to corresponding second setting current threshold when the control electric current of described automatically controlled ratio driving source change-over valve group or described guide's solenoid-operated proportional reducing valve, export start signal to described solenoid directional control valve, control described solenoid directional control valve and open.
Further, described principal arm luffing parameter detection device is current sensing means, the control electric current of the described automatically controlled ratio driving source change-over valve group that described principal arm luffing parameter detects for described current sensing means or described guide's solenoid-operated proportional reducing valve, described setup parameter is the corresponding second setting current threshold of described automatically controlled ratio driving source change-over valve group or described guide's solenoid-operated proportional reducing valve;
Described control setup, during specifically for being less than or equal to corresponding second setting current threshold when the control electric current of described automatically controlled ratio driving source change-over valve group or described guide's solenoid-operated proportional reducing valve, export start signal to described solenoid directional control valve, control described solenoid directional control valve and open.
Further, described control setup, also for when the control electric current of described automatically controlled ratio driving source change-over valve group or described guide's solenoid-operated proportional reducing valve equals zero, exports closing signal to described solenoid directional control valve, controls described solenoid directional control valve and close.
Concrete, described automatically controlled ratio driving source change-over valve group comprises:
Solenoid-operated proportional change-over valve, the 3rd actuator port of described solenoid-operated proportional change-over valve and the 4th actuator port correspond to the first actuator port and second actuator port of described ratio driving source change-over valve group respectively;
Be arranged at the uniform-pressure-drop valve at the oil inlet place of described solenoid-operated proportional change-over valve, described uniform-pressure-drop valve has the first control port and the second control port, described first control port is connected with the oil inlet of described solenoid-operated proportional change-over valve, described second control port is connected with the 3rd actuator port of described solenoid-operated proportional change-over valve, and the control electric current of described solenoid-operated proportional change-over valve forms the control electric current of described automatically controlled ratio driving source change-over valve group.
Further on preceding solution basis, described automatically controlled ratio driving source change-over valve group also comprises: shuttle valve, be arranged on the oil circuit between the second control port of described uniform-pressure-drop valve and the 3rd actuator port of described solenoid-operated proportional change-over valve, wherein, first oil inlet of described shuttle valve is connected with the 3rd actuator port of described solenoid-operated proportional change-over valve, the oil outlet of described shuttle valve is connected with the second control port of described uniform-pressure-drop valve, and the second oil inlet of described shuttle valve is connected with the 4th actuator port of described solenoid-operated proportional change-over valve.
Concrete, described automatically controlled ratio driving source change-over valve group comprises: switching regulator solenoid directional control valve and Electric Proportional variable-volume pump, and wherein, the oil outlet of described Electric Proportional variable-volume pump is connected with the oil inlet of described switching regulator solenoid directional control valve;
The oil suction of described Electric Proportional variable-volume pump is the oil inlet of described automatically controlled ratio driving source change-over valve group, and the control electric current of described Electric Proportional variable-volume pump forms the control electric current of described automatically controlled ratio driving source change-over valve group.
Concrete, described automatically controlled ratio driving source change-over valve group comprises: switching regulator pilot operated directional control valve and Electric Proportional variable-volume pump, and wherein, the oil outlet of described Electric Proportional variable-volume pump is connected with the oil inlet of described switching regulator pilot operated directional control valve;
The oil suction of described Electric Proportional variable-volume pump is the oil inlet of described automatically controlled ratio driving source change-over valve group, and the control electric current of described Electric Proportional variable-volume pump forms the control electric current of described automatically controlled ratio driving source change-over valve group.
Present invention also offers a kind of hoisting crane, comprise the principal arm luffing control system described in aforementioned arbitrary technical scheme, because this principal arm luffing control system can improve the safe reliability that principal arm luffing controls under the various operating mode of hoisting crane, the safe reliability therefore with the crane job of this principal arm luffing control system is higher.
Accompanying drawing explanation
Fig. 1 is the structural representation of existing super-tonnage crane;
Fig. 2 is the hydraulic structure schematic diagram that existing super-tonnage crane power transfers luffing control system;
Fig. 3 is that existing super-tonnage crane is in car load and returns the vehicle to the garage and knock off the structural representation of operating mode;
Fig. 4 is the hydraulic structure schematic diagram that luffing control system is transferred in the deadweight of existing super-tonnage crane;
Fig. 5 is the hydraulic structure schematic diagram of principal arm luffing control system first embodiment of the present invention;
Fig. 6 is the hydraulic structure schematic diagram of principal arm luffing control system second embodiment of the present invention;
Fig. 7 is the schematic diagram of control method flow process one embodiment of control setup in the principal arm luffing control system shown in Fig. 6;
Fig. 8 is the schematic diagram of another embodiment of control method flow process of control setup in the principal arm luffing control system shown in Fig. 6;
Fig. 9 is the hydraulic structure schematic diagram of principal arm luffing control system the 3rd embodiment of the present invention;
Figure 10 is the schematic diagram of control method flow process one embodiment of control setup in the principal arm luffing control system shown in Fig. 9;
Figure 11 is the schematic diagram of another embodiment of control method flow process of control setup in the principal arm luffing control system shown in Fig. 9;
Figure 12 is the hydraulic structure schematic diagram of principal arm luffing control system the 4th embodiment of the present invention;
Figure 13 is the schematic diagram of control method flow process one embodiment of control setup in the principal arm luffing control system shown in Figure 12;
Figure 14 is the hydraulic structure schematic diagram of principal arm luffing control system the 5th embodiment of the present invention;
Figure 15 is the hydraulic structure schematic diagram of principal arm luffing control system the 6th embodiment of the present invention.
Reference numeral:
1-ratio driving source change-over valve group 101-solenoid-operated proportional change-over valve
102-uniform-pressure-drop valve 103-shuttle valve
104-switching regulator solenoid directional control valve 105-Electric Proportional variable-volume pump
106-switching regulator pilot operated directional control valve 2-amplitude oil cylinder
21-rod chamber 22-rodless cavity
3-switch valve 4-back pressure valve
5-controls oil sources 6-first balance cock
7-guide's solenoid-operated proportional reducing valve 8-current sensing means
9-angle detection device 10-control setup
11-second balance cock 12-fuel tank
100-swing arm 110-hoisting rope
120-has surpassed steel rope 130-principal arm
140 amplitude oil cylinder 150-vehicle frames
200-switching regulator solenoid directional control valve 300-balance cock
400-guide proportion reducing valve
Detailed description of the invention
In order to improve the safe reliability that principal arm luffing controls under the various operating mode of hoisting crane, and then improving the safe reliability of crane job, embodiments providing a kind of principal arm luffing control system and hoisting crane vehicle of hoisting crane.In this technical scheme, the pressure release branch road that the oil passage that luffing falls is arranged, can work as when needing pressure oil to enter rod chamber with the state of " low pressure " and open, the power that effective reduction makes principal arm luffing fall, and in this course still by oil sources to rod chamber initiatively fuel feeding, there is back pressure in the branch road of pressure release simultaneously, transfers the generation that luffing pattern effectively can prevent the emptying phenomenon of the rod chamber of amplitude oil cylinder, thus improve the safe reliability of hoisting crane compared to deadweight.
As shown in Figure 5, the principal arm luffing control system of the hoisting crane that first embodiment of the invention provides, comprising:
Ratio driving source change-over valve group 1 and amplitude oil cylinder 2, wherein, ratio driving source change-over valve group 1 have make the first actuator port A and the second actuator port B respectively with the first control position of oil inlet P and oil return inlet T conducting, and make the first actuator port and A second actuator port B respectively with the second control position of oil return inlet T and oil inlet P conducting, the oil inlet P of ratio driving source change-over valve group 1 is connected with pressure oil circuit, and the oil return inlet T of ratio driving source change-over valve group 1 is connected with oil return line;
First actuator port A of ratio driving source change-over valve group 1 is connected with the rod chamber 21 of amplitude oil cylinder 2, and the second actuator port B is connected with the rodless cavity 22 of amplitude oil cylinder 2;
Principal arm luffing control system also comprises: switch valve 3 and back pressure valve 4, and the oil inlet of switch valve 3 is connected to oil passage when luffing falls, and the oil outlet of switch valve 3 is connected with the oil inlet of back pressure valve 4, and the oil outlet of back pressure valve 4 is connected to oil return line.
It should be noted that at this, amplitude oil cylinder 2 promotes principal arm and does luffing action, can for the piston rod of amplitude oil cylinder 2 and principal arm hinged and drive principal arm to do luffing action, or the cylinder body of amplitude oil cylinder 2 and principal arm hinged and drive principal arm to do luffing action.Amplitude oil cylinder 2 has rodless cavity 22 and rod chamber 21, and when principal arm does the action of luffing whereabouts, rod chamber 21 oil-feed of amplitude oil cylinder 2, rodless cavity 22 is fuel-displaced.Principal arm luffing control system also comprises bar handle usually, hoists and luffing drop action for controlling principal arm luffing.The back pressure p of back pressure valve 4 1concrete basis meets switch valve 3 and opens the rod chamber 21 that rear pressure oil can be full of amplitude oil cylinder 2 under not producing the prerequisite of pressure (or producing little pressure to piston rod) to piston rod as far as possible, and principal arm luffing Control system architecture is determined, at the end of luffing falls, the pressure in the rod chamber 21 of amplitude oil cylinder 2 equals the back pressure p of back pressure valve 4 1, such as p 1can be 0.3MPa.The concrete structure of back pressure valve 4 is not limit, and such as back pressure valve 4 can be check valve.
Below for the piston rod of amplitude oil cylinder 2 and principal arm hinged and drive principal arm to do luffing action, illustrate each embodiment of the present invention.The working process of embodiment one is as follows:
When promotion bar handle carries out principal arm luffing whereabouts, ratio driving source change-over valve group 1 is in the first control position, now the first actuator port A of ratio driving source change-over valve group 1 and the second actuator port B respectively with oil inlet P and oil return inlet T conducting, first actuator port A of pressure oil passing ratio driving source change-over valve group 1 enters the rod chamber 21 of amplitude oil cylinder 2, the second actuator port B of the fluid passing ratio driving source change-over valve group 1 in the rodless cavity 22 of amplitude oil cylinder 2 and oil return inlet T oil sump tank 12.The process need pressure oil fallen at principal arm luffing enters rod chamber 21 with the state of " low pressure ", during the application scenarios that during to ensure that luffing falls, the pressure of rod chamber 21 inner fluid is less, can opening switch valve 3, make the pressure oil (pressure oil in oil passage when namely luffing falls) entering rod chamber 21 simultaneously through switch valve 3 and the pressure release of back pressure valve 4 oil sump tank 12, namely switch valve 3 and back pressure valve 4 constitute the pressure release branch road of oil passage when luffing falls, thus regulate the pressure in rod chamber 21, improve the safe reliability in luffing dropping process.
Such as return the vehicle to the garage and knock off when carrying out hoisting crane car load, when principal arm falls to and needs to continue to fall with less pressure and speed horizontal by set angle, can opening switch valve 3 until principal arm has fallen, due to the pressure p in the rod chamber 21 of amplitude oil cylinder 2 in this course 1less, the pressure p in rod chamber 21 1close to zero, namely this process transfers luffing pattern close to deadweight, now acts on the power F=p that rodless cavity 22 makes principal arm transfer 1s 1also less, even if thus make operator not stop in time when principal arm falls to level transferring, also effectively can reduce principal arm and excessively transfer the possibility causing the damage of vehicle frame supporting mechanism to be even out of shape generation, and owing to being provided with back pressure valve 4 on pressure release branch road, and the pressure oil in rod chamber 21 is by oil sources initiatively fuel feeding, transferring luffing pattern compared to deadweight can effectively prevent the oil inlet quantity of the rod chamber 21 of amplitude oil cylinder 2 deficiency from causing the generation of emptying phenomenon, thus substantially increases the safe reliability of hoisting crane.
In summary, the pressure release branch road that the oil passage that the principal arm luffing control system that the present embodiment provides falls at luffing is arranged, can work as when needing pressure oil to enter rod chamber 21 with the state of " low pressure " and open, the power that effective reduction makes principal arm luffing fall, and in this course still by oil sources to rod chamber 21 initiatively fuel feeding, there is back pressure in the branch road of pressure release simultaneously, transfer compared to deadweight the generation that luffing pattern effectively can prevent the emptying phenomenon of the rod chamber 21 of amplitude oil cylinder 2, thus improve the safe reliability of hoisting crane;
And, when principal arm needs with when speed falls faster, shorter or the principal arm initial fall of such as zero load, underloading, brachium is to operating modes such as the stages of falling at a slow speed, the switch valve 3 of the pressure release branch road of the principal arm luffing control system that the present embodiment provides is closed, thus make the pressure oil of oil sources can enter in the rod chamber 21 of amplitude oil cylinder 2 in the mode of active fuel feeding, make the falling speed of principal arm not rely on the deadweight of jib, ensure that principal arm falls with speed faster, improve operating efficiency.
Therefore, the principal arm luffing control system that the present embodiment provides optionally is opened or closing switch valve 3 according to the different phase that principal arm falls, i.e. pressure release branch road optionally conducting or closedown, make the advantage of the little pressure drop of its advantage hurtled down simultaneously with mode playback under power and the lower mode playback of deadweight, and can effectively prevent the excessive crane structure distortion caused of power that principal arm is transferred from even damaging generation, and effectively prevent the oil inlet quantity of the rod chamber 21 of amplitude oil cylinder 2 deficiency from causing the generation of emptying phenomenon, thus substantially increase the safe reliability of hoisting crane,
Further, the principal arm luffing Control system architecture that the present embodiment provides is simple, only needs to arrange pressure release branch road in the oil passage of luffing whereabouts, and take up room less, cost is lower, substantially increases the applicability of the present embodiment.
Further, in order to improve the safety of crane job, as shown in Figure 6, the principal arm luffing control system that second embodiment of the invention provides, on the basis of the first embodiment, also comprise: control oil sources 5, first balance cock 6 and guide's solenoid-operated proportional reducing valve 7, wherein, first balance cock 6 is arranged on oil return line when luffing falls, the control port of the first balance cock 6 is connected with the oil outlet of guide's solenoid-operated proportional reducing valve 7, controls oil sources 5 and is connected with the oil inlet of guide's solenoid-operated proportional reducing valve 7.
When principal arm action, the electromagnet Y3 of guide's solenoid-operated proportional reducing valve 7 obtains electric, guide's solenoid-operated proportional reducing valve 7 is opened, the control fluid controlling oil sources 5 arrives control port place of the first balance cock 6 by guide's solenoid-operated proportional reducing valve 7, and then control the first balance cock 6 is opened, and realizes entering or refluxing of rodless cavity 22 inner fluid; When principal arm is still in a certain attitude, guide's solenoid-operated proportional reducing valve 7 dead electricity, controls the first balance cock 6 and closes, the fluid in the rodless cavity 22 of amplitude oil cylinder 2 is lockable, thus the possibility that minimizing principal arm falls to occurring suddenly, thus improve the safe reliability of hoisting crane.
And from the structure of this enforcement, in principal arm dropping process, pressure and the control electric current of himself of guide's solenoid-operated proportional reducing valve output fluid are in direct ratio, the aperture of the first balance cock 6 is directly proportional to the pressure of the output fluid of guide's solenoid-operated proportional reducing valve 7, therefore, the aperture of the first balance cock 6 is directly proportional to the control electric current of guide's solenoid-operated proportional reducing valve, and namely the fluid flow of the oil sump tank 12 of the rodless cavity 22 of amplitude oil cylinder 2 in principal arm dropping process is directly proportional to the control electric current of guide's solenoid-operated proportional reducing valve 7.
When considering that hoisting crane car load returns the vehicle to the garage and knock off, likely occur that the situation that principal arm extruding vehicle frame supporting mechanism causes its damage to be even out of shape occurs, therefore in order to improve the safe reliability of hoisting crane further, continue with reference to shown in Fig. 6, on the basis of the second embodiment, in the present invention's principal arm luffing control system that preferably the 3rd embodiment provides:
Ratio driving source change-over valve group 1 is automatically controlled ratio driving source change-over valve group; Switch valve 3 is solenoid directional control valve;
This principal arm luffing control system also comprises:
Current sensing means 8, for detecting the control electric current of automatically controlled ratio driving source change-over valve group (ratio driving source change-over valve group 1);
Angle detection device 9, for detecting the angle of principal arm and horizontal surface;
Control setup 10, respectively with automatically controlled ratio driving source change-over valve group, guide's solenoid-operated proportional reducing valve 7, current sensing means 8 is connected with angle detection device 9 signal, for being less than or equal to setting angle when the angle of principal arm and horizontal surface, and the control electric current of automatically controlled ratio driving source change-over valve group is when being greater than the first setting electric current, export start signal to solenoid directional control valve (switch valve 3), control solenoid directional control valve is opened, and export the first current modifying signal respectively to automatically controlled ratio driving source change-over valve group, the control electric current adjusting automatically controlled ratio driving source change-over valve group (ratio driving source change-over valve group 1) equals the first setting electric current, export the second current modifying signal to guide's solenoid-operated proportional reducing valve 7, the control electric current of adjustment guide solenoid-operated proportional reducing valve 7 equals the second setting electric current, and when the angle of principal arm and horizontal surface is less than or equal to setting angle, and the control electric current of automatically controlled ratio driving source change-over valve group (ratio driving source change-over valve group 1) is when being less than or equal to the first setting electric current, export start signal to solenoid directional control valve (switch valve 3), control solenoid directional control valve and open.
The structure of automatically controlled ratio driving source change-over valve group has multiple, automatically controlled ratio driving source change-over valve group such as shown in Fig. 6 comprises: solenoid-operated proportional change-over valve 101, the first actuator port A of the 3rd actuator port of solenoid-operated proportional change-over valve 101 and the corresponding composition driving source change-over valve group 1 of the 4th actuator port difference and the second actuator port B; Be arranged at the uniform-pressure-drop valve 102 at the oil inlet place of solenoid-operated proportional change-over valve 101, uniform-pressure-drop valve 102 has the first control port H and the second control port I, first control port H is connected with the oil inlet of solenoid-operated proportional change-over valve 101, second control port I is connected with the 3rd actuator port F of solenoid-operated proportional change-over valve 101, and the control electric current of solenoid-operated proportional change-over valve 101 forms the control electric current of automatically controlled ratio driving source change-over valve group.Because the oil inlet place at solenoid-operated proportional change-over valve 101 is provided with uniform-pressure-drop valve 102, therefore, the oil inlet of solenoid-operated proportional change-over valve 101 is certain value with the pressure reduction between the actuator port in the oil passage be connected when luffing falls, be directly proportional to the aperture of solenoid-operated proportional change-over valve 101 by the fluid flow of solenoid-operated proportional change-over valve 101, the aperture of solenoid-operated proportional change-over valve 101 is directly proportional to its control electric current, it can thus be appreciated that, be directly proportional to its control electric current by the fluid flow of solenoid-operated proportional change-over valve 101.Certainly; when ratio driving source change-over valve group 1 adopts this structure; usually also comprise: match with solenoid-operated proportional change-over valve 101; and the controllable capacity pump of fluid flow can be exported according to the pressure variations at the 3rd actuator port F place of solenoid-operated proportional change-over valve 101; such as, can be the load-reacting pump etc. shown in Fig. 5 and Fig. 6.
Or with reference to shown in Figure 14, automatically controlled ratio driving source change-over valve group comprises: switching regulator solenoid directional control valve 104 and Electric Proportional variable-volume pump 105, and wherein, the oil outlet of Electric Proportional variable-volume pump 105 is connected with the oil inlet of switching regulator solenoid directional control valve 104; The oil suction of Electric Proportional variable-volume pump 105 is the oil inlet of automatically controlled ratio driving source change-over valve group, and the control electric current of Electric Proportional variable-volume pump 105 forms the control electric current of automatically controlled ratio driving source change-over valve group.
Or with reference to shown in Figure 15, automatically controlled ratio driving source change-over valve group comprises: switching regulator pilot operated directional control valve 106 and Electric Proportional variable-volume pump 105, and wherein, the oil outlet of Electric Proportional variable-volume pump 105 is connected with the oil inlet of switching regulator solenoid directional control valve 104; The oil suction of Electric Proportional variable-volume pump 105 is the oil inlet of automatically controlled ratio driving source change-over valve group, and the control electric current of Electric Proportional variable-volume pump 105 forms the control electric current of automatically controlled ratio driving source change-over valve group.
Certainly, automatically controlled ratio driving source change-over valve group is not limited to above-mentioned three kinds, anyly can realize controlling the structure that is directly proportional to the flow at the first actuator port place of automatically controlled ratio driving source change-over valve group of electric current and all can adopt; The control electric current that term used herein " formation " refers to Electric Proportional variable-volume pump 105 with by the fluid flow of automatically controlled ratio driving source change-over valve group, there is the corresponding relation determined, the fluid flow that can obtain by automatically controlled ratio driving source change-over valve group according to the control electric current of Electric Proportional variable-volume pump 105.
The concrete structure of solenoid-operated proportional change-over valve 101, switching regulator solenoid directional control valve 104, switching regulator pilot operated directional control valve 106 is not limit, have the first actuator port of making ratio driving source change-over valve group 1 and the second actuator port respectively with the first control position of oil inlet and return opening conducting, make the first actuator port and the second actuator port respectively with the second control position of return opening and oil inlet conducting, and the 3rd control position making ratio driving source change-over valve group 1 end all can adopt, and does not do concrete restriction at this.Such as, solenoid-operated proportional change-over valve 101, switching regulator solenoid directional control valve 104 or switching regulator pilot operated directional control valve 106 can adopt three position four-way directional control valve etc.
It should be noted that, be directly proportional to the control electric current of automatically controlled ratio driving source change-over valve group by the fluid flow of automatically controlled ratio driving source change-over valve group.When principal arm falls, rod chamber 21 oil-feed of amplitude oil cylinder 2, rodless cavity 22 is fuel-displaced, and the oil inlet quantity of rod chamber 21 equals the oil pump capacity of rodless cavity 22, therefore, the automatically controlled control electric current of ratio driving source change-over valve group and the control electric current of guide's solenoid-operated proportional reducing valve 7 have synchronism; Principal arm luffing control system also comprises bar handle usually; for controlling hoisting or falling of principal arm luffing; and the speed hoisting or fall; such as, when bar handle is in meta, principal arm luffing stops; and the aperture size of bar handle is directly proportional to the speed hoisted or fall; it can thus be appreciated that the aperture size of bar handle is directly proportional to the control electric current of automatically controlled ratio driving source change-over valve group, is directly proportional to the control electric current of guide's solenoid-operated proportional reducing valve 7.
Continue, with reference to shown in Fig. 6 and Fig. 7, to comprise with automatically controlled ratio driving source change-over valve group below: solenoid-operated proportional change-over valve 101; Be arranged at the uniform-pressure-drop valve 102 at the oil inlet place of solenoid-operated proportional change-over valve 101, uniform-pressure-drop valve 102 has the first control port H and the second control port I, first control port H is connected with the oil inlet of solenoid-operated proportional change-over valve 101, second control port I is connected with the 3rd actuator port F of solenoid-operated proportional change-over valve 101, solenoid-operated proportional change-over valve 101 is example for three position four-way directional control valve, illustrates the working process of the principal arm luffing control system that the present embodiment provides:
Promotion luffing bar handle starts to carry out car load and returns the vehicle to the garage and knock off, principal arm starts luffing, the electromagnet Y2 of solenoid-operated proportional the change-over valve 101 and Y3 of guide's solenoid-operated proportional reducing valve 7 obtains electric, simultaneously current sensing means 8 starts to detect the control electric current of solenoid-operated proportional change-over valve 101 and is sent to control setup 10, angle detection device 9 starts to detect the angle of principal arm and horizontal surface and is sent to control setup 10, the pressure oil of oil sources is through uniform-pressure-drop valve 102, the oil inlet P of solenoid-operated proportional change-over valve 101, actuator port A enters oil passage AD when luffing falls, and then enter the rod chamber 21 of amplitude oil cylinder 2, simultaneously the control fluid of guide's solenoid-operated proportional reducing valve 7 promotes the first balance cock 6 and opens, pressure oil in rodless cavity 22 is through the first balance cock 6 oil sump tank 12, amplitude oil cylinder 2 luffing is transferred and is driven principal arm to fall, along with the aperture of luffing bar handle constantly reduces, the control electric current of solenoid-operated proportional change-over valve 101 and the control current synchronization of guide's solenoid-operated proportional reducing valve 7 reduce, the flow entering the pressure oil in the rod chamber 21 of amplitude oil cylinder 2 constantly reduces, and principal arm falling speed reduces,
The angle of the principal arm that the control electric current of the solenoid-operated proportional change-over valve 101 that control setup 10 real-time reception current sensing means 8 detects and angle detection device 9 detect and horizontal surface, when control setup 10 judges that the angle of principal arm and horizontal surface is less than or equal to setting angle, and the control electric current of solenoid-operated proportional change-over valve 101 is when being greater than the first setting electric current, export start signal to solenoid directional control valve (switch valve 3), solenoid directional control valve 3 is opened, export the first current modifying signal respectively to solenoid-operated proportional change-over valve 101 simultaneously, the control electric current of adjustment solenoid-operated proportional change-over valve 101 equals the first setting electric current, export the second current modifying signal to guide's solenoid-operated proportional reducing valve 7, the control electric current of adjustment guide solenoid-operated proportional reducing valve 7 equals the second setting electric current, when control setup 10 judges that the angle of principal arm and horizontal surface is less than or equal to setting angle, and when the control electric current of solenoid-operated proportional change-over valve 101 is less than or equal to the first setting electric current, export start signal to solenoid directional control valve 3, control solenoid directional control valve and open,
Now, the fluid part entering oil passage AD through solenoid-operated proportional change-over valve 101 enters the rod chamber 21 of amplitude oil cylinder 2, and another part flows back to fuel tank 12 by the switch valve 3 (solenoid directional control valve 3) of pressure release branch road and back pressure valve 4;
Until bar handle continues the direction action towards reducing handle aperture, stop action to principal arm.
Wherein, in the present embodiment, the control method flow process of control setup 10 is as shown in Figure 7:
Step 701: the angle receiving principal arm and horizontal surface;
Step 702: the control electric current receiving solenoid-operated proportional change-over valve;
Step 703: judge whether the angle of principal arm and horizontal surface is less than or equal to setting angle, if so, performs step 704, otherwise, continue to perform step 703;
Step 704: judge whether the control electric current of solenoid-operated proportional change-over valve is greater than the first setting electric current, if so, performs step 706, otherwise, perform step 705;
Step 705: export start signal to solenoid directional control valve, controls solenoid directional control valve and opens;
Step 706: export the first current modifying signal respectively to solenoid-operated proportional change-over valve, the control electric current of adjustment solenoid-operated proportional change-over valve equals the first setting electric current, export the second current modifying signal to guide's solenoid-operated proportional reducing valve, the control electric current of adjustment guide solenoid-operated proportional reducing valve equals the second setting electric current; Perform step 705.
Wherein, both step 701 and step 702 can synchronously perform.
It should be noted that, first setting electric current, the occurrence of the second setting electric current and the principal arm of setting and the angle of horizontal surface is not limit, determine according to the structure of principal arm luffing control system and the jib structure of hoisting crane, when being less setting value to make the angle of principal arm and horizontal surface, principal arm can transit to slower speed from falling speed faster and fall (i.e. the first setting electric current and second set electric current less), and it is very little to the pressure of vehicle frame supporting mechanism when principal arm is finally fallen on vehicle frame supporting mechanism, the angle of such as principal arm and horizontal surface is 2 °, first setting electric current is 380mA, when second setting electric current is 400mA, the solenoid directional control valve 3 of pressure release branch road is opened, first current modifying signal and the second current modifying signal can export simultaneously, also only can export a current modifying signal to realize adjustment.
From above-mentioned working process, the principal arm luffing control system that the present embodiment provides is when carrying out car load and returning the vehicle to the garage and knock off, be divided into the control that principal arm falls: first stage is two stages, the angle of principal arm and horizontal surface be greater than set angle time, solenoid directional control valve cuts out, and principal arm hurtles down with mode playback under power, subordinate phase is, the angle of principal arm and horizontal surface be less than or equal to set angle time, solenoid directional control valve is opened, and the control electric current of solenoid-operated proportional change-over valve is for being less than or equal to the first setting electric current, the control electric current of guide's solenoid-operated proportional reducing valve is for being less than or equal to the second setting electric current, principal arm falls on vehicle frame supporting mechanism with " at a slow speed-low pressure " pattern, even if principal arm can not stop in time and be pressed onto on vehicle frame supporting mechanism, due to the pressure very little (close to zero pressure) in the rod chamber of now amplitude oil cylinder, vehicle frame supporting mechanism and vehicle frame can not be extruded and cause the distortion such as vehicle frame even to damage, greatly reduce maloperation and the probability causing potential safety hazard to occur, thus improve the safe reliability of hoisting crane.
Above-described embodiment is only one embodiment of the present invention, and due in principal arm dropping process, the automatically controlled control electric current of ratio driving source change-over valve group and the control electric current of guide's solenoid-operated proportional reducing valve have synchronism.Therefore, in order to improve the safe reliability of hoisting crane further, continue with reference to shown in Fig. 6 and shown in Fig. 8, can also on the basis of the second embodiment, in the present invention's principal arm luffing control system that preferably the 4th embodiment provides:
Ratio driving source change-over valve group 1 is automatically controlled ratio driving source change-over valve group; Switch valve 3 is solenoid directional control valve;
This principal arm luffing control system also comprises:
Current sensing means 8, for detecting the control electric current of guide's solenoid-operated proportional reducing valve 7;
Angle detection device 9, for detecting the angle of principal arm and horizontal surface;
Control setup 10, respectively with guide's solenoid-operated proportional reducing valve 7, automatically controlled ratio driving source change-over valve group (ratio main reversing valve 1), current sensing means 8 is connected with angle detection device 9 signal, for being less than or equal to setting angle when the angle of principal arm and horizontal surface, and the control electric current of guide's solenoid-operated proportional reducing valve 7 is when being greater than the second setting electric current, export start signal to solenoid directional control valve (switch valve 3), control solenoid directional control valve is opened, and export the first current modifying signal respectively to automatically controlled ratio driving source change-over valve group, the control electric current adjusting automatically controlled ratio driving source change-over valve group equals the first setting electric current, export the second current modifying signal to guide's solenoid-operated proportional reducing valve 7, the control electric current of adjustment guide solenoid-operated proportional reducing valve 7 equals the second setting electric current, and when the angle of principal arm and horizontal surface is less than or equal to setting angle, and when the control electric current of guide's solenoid-operated proportional reducing valve 7 is less than or equal to the second setting electric current, export start signal to solenoid directional control valve, control solenoid directional control valve and open.
As shown in Figure 6, continue below to comprise with automatically controlled ratio driving source change-over valve group: solenoid-operated proportional change-over valve 101; Be arranged at the uniform-pressure-drop valve 102 at the oil inlet place of solenoid-operated proportional change-over valve 101, uniform-pressure-drop valve 102 has the first control port and the second control port, first control port is connected with the oil inlet of solenoid-operated proportional change-over valve 101, second control port is connected with the 3rd actuator port of solenoid-operated proportional change-over valve 101, solenoid-operated proportional change-over valve 101 is example for three position four-way directional control valve, illustrates the working process of the principal arm luffing control system that the present embodiment four provides:
Promotion luffing bar handle starts to carry out car load and returns the vehicle to the garage and knock off, principal arm starts luffing, the electromagnet Y2 of solenoid-operated proportional the change-over valve 101 and Y3 of guide's solenoid-operated proportional reducing valve 7 obtains electric, simultaneously current sensing means 8 starts to detect the control electric current of guide's solenoid-operated proportional reducing valve 7 and is sent to control setup 10, angle detection device 9 starts to detect the angle of principal arm and horizontal surface and is sent to control setup 10, the pressure oil of oil sources is through uniform-pressure-drop valve 102, the oil inlet P of solenoid-operated proportional change-over valve 101, actuator port A enters oil passage AD when luffing falls, and then enter the rod chamber 21 of amplitude oil cylinder 2, simultaneously the control fluid of guide's solenoid-operated proportional reducing valve 7 promotes the first balance cock 6 and opens, pressure oil in rodless cavity 22 is through the first balance cock 6 oil sump tank 12, amplitude oil cylinder 2 luffing is transferred and is driven principal arm to fall, along with the aperture of luffing bar handle constantly reduces, the control electric current of solenoid-operated proportional change-over valve 101 and the control current synchronization of guide's solenoid-operated proportional reducing valve 7 reduce, the flow entering the pressure oil in the rod chamber 21 of amplitude oil cylinder 2 constantly reduces, and principal arm falling speed reduces,
The angle of the principal arm that the control electric current of guide's solenoid-operated proportional reducing valve 7 that control setup 10 real-time reception current sensing means 8 detects and angle detection device 9 detect and horizontal surface, when control setup 10 judges that the angle of principal arm and horizontal surface is less than or equal to setting angle, and the control electric current of guide's solenoid-operated proportional reducing valve 7 is when being greater than the second setting electric current, export start signal to switch valve 3 (solenoid directional control valve), the electromagnet Y4 of solenoid directional control valve obtains electric, solenoid directional control valve 3 is opened, export the first current modifying signal respectively to solenoid-operated proportional change-over valve 101 simultaneously, the control electric current of adjustment solenoid-operated proportional change-over valve 101 equals the first setting electric current, export the second current modifying signal to guide's solenoid-operated proportional reducing valve 7, the control electric current of adjustment guide solenoid-operated proportional reducing valve 7 equals the second setting electric current, when control setup 10 judges that the angle of principal arm and horizontal surface is less than or equal to setting angle, and when the control electric current of guide's solenoid-operated proportional reducing valve 7 is less than or equal to the second setting electric current, export start signal to solenoid directional control valve, control solenoid directional control valve and open,
Now, the fluid part entering oil passage AD through solenoid-operated proportional change-over valve 101 enters the rod chamber 21 of amplitude oil cylinder 2, and another part flows back to fuel tank 12 by the switch valve 3 (solenoid directional control valve 3) of pressure release branch road and back pressure valve 4;
Until bar handle continues the direction action towards reducing handle aperture, stop action to principal arm.
In order to be convenient to the working process understanding the present embodiment further, as shown in Figure 8, in the present embodiment, the control method flow process of control setup 10 is as follows:
Step 801: the angle receiving principal arm and horizontal surface;
Step 802: the control electric current receiving guide's solenoid-operated proportional reducing valve;
Step 803: judge whether the angle of principal arm and horizontal surface is less than or equal to setting angle, if so, performs step 804, otherwise, continue to perform step 803;
Step 804: judge whether the control electric current of guide's solenoid-operated proportional reducing valve is greater than the second setting electric current, if so, performs step 806, otherwise, perform step 805;
Step 805: export start signal to solenoid directional control valve, controls solenoid directional control valve and opens;
Step 806: export the first current modifying signal respectively to solenoid-operated proportional change-over valve, the control electric current of adjustment solenoid-operated proportional change-over valve equals the first setting electric current, export the second current modifying signal to guide's solenoid-operated proportional reducing valve, the control electric current of adjustment guide solenoid-operated proportional reducing valve equals the second setting electric current; Perform step 805.
Wherein, both step 801 and step 802 can synchronously perform.
From above-mentioned working process, the principal arm luffing control system that the present embodiment provides is when carrying out car load and returning the vehicle to the garage and knock off, the control of falling to principal arm is identical with above-described embodiment three, and principal arm falls to being also divided into two stages: first stage is, principal arm hurtles down with mode playback under power; Subordinate phase is, with " at a slow speed-low pressure ", pattern falls on vehicle frame supporting mechanism principal arm, thus the probability greatly reducing maloperation and cause potential safety hazard to occur, and then improve the safe reliability of hoisting crane.
As shown in Figure 9, the principal arm luffing control system that the fifth embodiment of the present invention provides, in aforementioned first, second, third and fourth embodiment any embodiment basis on, also comprise: the control port being arranged at the second balance cock 11, second balance cock 11 in oil passage when luffing falls is connected with the second actuator port.
Adopt the principal arm luffing control system that the present embodiment provides, when principal arm luffing hoists, pressure oil between the rodless cavity 22 of the second actuator port and amplitude oil cylinder 2 on oil circuit arrives the control port C of the second balance cock 11, control the second balance cock 11 to open, the pressure oil in the rod chamber 21 of amplitude oil cylinder 2 is back to fuel tank 12 through the second balance cock 11, when principal arm is still in a certain attitude, that is when the oil circuit between the rodless cavity 22 of amplitude oil cylinder 2 and the second actuator port does not have pressure, second balance cock 11 is closed, fluid in the rod chamber 21 of amplitude oil cylinder 2 is lockable, the piston rod of amplitude oil cylinder can not stretch out, effectively prevent amplitude oil cylinder from pulling out suddenly and cause principal arm layback to be tumbled, especially when hoisting crane is super-tonnage crane, because its job requirements is usually all with Chao Qi mechanism and swing arm, Chao Qi mechanism and swing arm apply the moment of layback to principal arm, such as hoisting rope and surpass steel rope to principal arm applying swing back moment, the generation of principal arm layback tipping condition when the present embodiment can effectively prevent the angle of amplitude oil cylinder to be more than or equal to 90 degree, thus greatly improve the safe reliability of hoisting crane.
Further, when considering that the luffing control system provided when employing the 5th embodiment is carried out the arbitrarily angled luffing drop action of principal arm and again hoists, likely in the moment again hoisted, because the pressure in amplitude oil cylinder reduces suddenly, the piston rod of amplitude oil cylinder stretches out larger displacement instantaneously, occur that luffing impacts, cause hanging loading aloft to rock, the situation that principal arm trembles or swing arm trembles and Hoisting Security reduces.
Therefore, on the basis of the 5th embodiment, in order to improve the safety of crane job further, continue with reference to shown in Fig. 9, the principal arm luffing control system that sixth embodiment of the invention provides, comprise: ratio driving source change-over valve group 1 and amplitude oil cylinder 2, wherein, ratio driving source change-over valve group 1 have make the first actuator port A and the second actuator port B respectively with the first control position of oil inlet P and oil return inlet T conducting, and make the first actuator port A and the second actuator port B respectively with the second control position of oil return inlet T and oil inlet P conducting, the oil inlet P of ratio driving source change-over valve group 1 is connected with pressure oil circuit, the oil return inlet T of ratio driving source change-over valve group 1 is connected with oil return line,
First actuator port A of ratio driving source change-over valve group 1 is connected with the rod chamber 21 of amplitude oil cylinder 2, and the second actuator port B is connected with the rodless cavity 22 of amplitude oil cylinder 2;
This principal arm luffing control system also comprises: switch valve 3 and back pressure valve 4, and oil inlet and the oil outlet of switch valve 3 are connected the oil inlet of oil passage when luffing falls and back pressure valve 4 respectively, and the oil outlet of back pressure valve 4 is connected to oil return line; The control port being arranged at the second balance cock 11, second balance cock 11 in oil passage when luffing falls is connected with the second actuator port B; Wherein,
Ratio driving source change-over valve group 1 is automatically controlled ratio driving source change-over valve group; Switch valve 3 is solenoid directional control valve;
This principal arm luffing control system also comprises:
Current sensing means 8, for detecting the control electric current of automatically controlled ratio driving source change-over valve group;
Control setup 10, be connected with automatically controlled ratio driving source change-over valve group and current sensing means 8 signal respectively, during for being less than or equal to the 3rd setting electric current when the control electric current of automatically controlled ratio driving source change-over valve group, export start signal to solenoid directional control valve, control solenoid directional control valve and open.
As shown in Figure 9, comprise with automatically controlled ratio driving source change-over valve group: solenoid-operated proportional change-over valve 101; Be arranged at the uniform-pressure-drop valve 102 at the oil inlet place of solenoid-operated proportional change-over valve 101, uniform-pressure-drop valve 102 has the first control port and the second control port, first control port is connected with the oil inlet of solenoid-operated proportional change-over valve 101, second control port is connected with the 3rd actuator port of solenoid-operated proportional change-over valve 101, solenoid-operated proportional change-over valve 101 is example for three position four-way directional control valve, illustrates the working process of the principal arm luffing control system that the present embodiment provides:
Promote luffing bar handle to start to carry out principal arm luffing whereabouts, the electromagnet Y2 of solenoid-operated proportional change-over valve 101 obtains electric, simultaneously current sensing means 8 starts to detect the control electric current of solenoid-operated proportional change-over valve 101 and is sent to control setup 10, the pressure oil of oil sources enters oil passage AD when luffing falls through uniform-pressure-drop valve 102, the oil inlet P of solenoid-operated proportional change-over valve 101, actuator port, and then enter the rod chamber 21 of amplitude oil cylinder 2, pressure oil oil sump tank 12 simultaneously in rodless cavity 22, amplitude oil cylinder 2 luffing is transferred and is driven principal arm to fall; Along with the aperture of luffing bar handle constantly reduces, the control current synchronization of solenoid-operated proportional change-over valve 101 constantly reduces, and the flow entering the pressure oil in the rod chamber 21 of amplitude oil cylinder 2 constantly reduces, and principal arm falling speed reduces;
The control electric current of the solenoid-operated proportional change-over valve 101 that control setup 10 real-time reception current sensing means 8 detects, when control setup 10 judges that the control electric current of solenoid-operated proportional change-over valve 101 is less than or equal to the 3rd setting electric current, export start signal to switch valve 3 (solenoid directional control valve 3), solenoid directional control valve 3 is opened;
Now, the fluid part entering oil passage AD through solenoid-operated proportional change-over valve 101 enters the rod chamber 21 of amplitude oil cylinder 2, and another part flows back to fuel tank 12 by the switch valve 3 (solenoid directional control valve) of pressure release branch road and back pressure valve 4;
Until bar handle continues the direction action towards reducing handle aperture, stop action to principal arm.
In order to be convenient to the working process understanding the present embodiment further, as shown in Figure 10, in the present embodiment, the control method flow process of control setup 10 is as follows:
Step 1001: the control electric current receiving solenoid-operated proportional change-over valve;
Step 1002: judge whether the control electric current of solenoid-operated proportional change-over valve is less than or equal to the 3rd setting electric current, if so, performs step 1003, otherwise, continue to perform step 1002;
Step 1003: export start signal to solenoid directional control valve, solenoid directional control valve is opened.
From above-mentioned working process, the principal arm luffing control system that the present embodiment provides is when carrying out the arbitrarily angled luffing drop action of principal arm, be divided into the control that principal arm falls: first stage is two stages, when the control electric current of automatically controlled ratio driving source change-over valve group is greater than the 3rd setting electric current, solenoid directional control valve cuts out, and principal arm hurtles down with mode playback under power; Subordinate phase is, when the control electric current of automatically controlled ratio driving source change-over valve group is less than or equal to the 3rd setting electric current, solenoid directional control valve is opened, and principal arm falls to stopping with " at a slow speed-low pressure " pattern, due to the pressure p in the rod chamber 21 of now amplitude oil cylinder 2 1very little (close to zero pressure), now, the second balance cock 11 is closed, the fluid in rod chamber 21 by locked in rod chamber 21, and the pressure p in rod chamber 21 1rodless cavity 22 is passed to by the piston rod of amplitude oil cylinder 2, when principal arm hoists again, second balance cock 11 is opened, fluid oil sump tank 12 in rod chamber 21, pressure vanishing now in rod chamber 21, the compressive force acting on rodless cavity 22 reduces, and fluid itself has certain compressibi1ity, there is instantaneous expansion in the fluid in rodless cavity 22, the piston rod of amplitude oil cylinder 2 stretches out displacement instantaneously thereupon
wherein, β is fluid coefficient of compressibility; To be that the piston rod of amplitude oil cylinder 2 is current stretch out total length to h; △ h is the displacement that the piston rod of amplitude oil cylinder 2 stretches out instantaneously; p 1for rod chamber 21 pressure of amplitude oil cylinder; S 1for current rod chamber 21 area of amplitude oil cylinder 2; S 2for current rodless cavity 22 area of amplitude oil cylinder 2;
The principal arm changing-breadth system adopting this enforcement to provide is known, when principal arm hoists again, and the pressure p of the fluid in rod chamber 1very little, the pressure p in rod chamber 1close to zero, make △ h very little (close to zero), therefore, it is possible to effectively prevent the luffing drop action under or Arbitrary Loads operating mode arbitrarily angled at principal arm and occur that luffing impacts in this process that again hoists, the generation of the situations such as principal arm trembles or swing arm trembles, thus improve the safe reliability of hoisting crane.Especially when hoisting crane is super-tonnage crane, even if the displacement △ h that the piston rod of amplitude oil cylinder stretches out instantaneously is less, but through the amplification of principal arm geometrical length, larger impact displacement can be produced at swing arm head; Simultaneously, the principal arm changing-breadth system that the present embodiment provides is in principal arm amplitude changing process, all the time have the initiative fuel feeding pattern, and owing to being provided with back pressure valve when pressure release branch road is opened (when pressure release branch road is opened, the pressure entering oil passage inner fluid can not be equal to zero), thus effectively can reduce balance cock and pipeline to the drag effects of fluid, and then effectively prevent the generation of " emptying phenomenon ".Therefore, the present embodiment can improve the reliability of super-tonnage crane when longer brachium operating mode operation and safety greatly.
Further, continue with reference to shown in Fig. 9, on the basis of the 5th embodiment, in order to improve the safety of crane job further, the principal arm luffing control system that seventh embodiment of the invention provides, comprise: ratio driving source change-over valve group 1 and amplitude oil cylinder 2, wherein, ratio driving source change-over valve group 1 have make the first actuator port and the second actuator port respectively with the first control position of oil inlet and return opening conducting, and make the first actuator port and the second actuator port respectively with the second control position of return opening and oil inlet conducting, the oil inlet that ratio main reversing valve is 1 group is connected with pressure oil circuit, the return opening that ratio main reversing valve is 1 group is connected with oil return line,
First actuator port of ratio main reversing valve 1 group is connected with the rod chamber 21 of amplitude oil cylinder 2, and the second actuator port is connected with the rodless cavity 22 of amplitude oil cylinder 2;
This principal arm luffing control system also comprises: control oil sources 5, first balance cock 6 and guide's solenoid-operated proportional reducing valve 7, wherein, first balance cock 6 is arranged on oil return line when luffing falls, the control port of the first balance cock 6 is connected with the oil outlet of guide's solenoid-operated proportional reducing valve 7, controls oil sources 5 and is connected with the oil inlet of guide's solenoid-operated proportional reducing valve 7.
This principal arm luffing control system also comprises: switch valve 3 and back pressure valve 4, and the oil inlet of switch valve 3 is connected to oil passage when luffing falls, and the oil outlet of switch valve 3 is connected with the oil inlet of back pressure valve 4, and the oil outlet of back pressure valve 4 is connected to oil return line; The control port being arranged at the second balance cock 11, second balance cock 11 in oil passage when luffing falls is connected with the second actuator port; Wherein,
Ratio driving source change-over valve group 1 is automatically controlled ratio driving source change-over valve group; Switch valve 3 is solenoid directional control valve;
This principal arm luffing control system also comprises:
Current sensing means 8, for detecting the control electric current of guide's solenoid-operated proportional reducing valve 7;
Control setup 10, be connected with guide's solenoid-operated proportional reducing valve 7 and current sensing means 8 signal respectively, when control electric current for conductive magnetism proportional pressure-reducing valve 7 is in the ban less than or equal to the 4th setting electric current, export start signal to solenoid directional control valve, control solenoid directional control valve and open.
With reference to shown in Fig. 9, comprise with automatically controlled ratio driving source change-over valve group: solenoid-operated proportional change-over valve 101; Be arranged at the uniform-pressure-drop valve 102 at the oil inlet place of solenoid-operated proportional change-over valve 101, uniform-pressure-drop valve 102 has the first control port and the second control port, first control port is connected with the oil inlet of solenoid-operated proportional change-over valve 101, second control port is connected with the 3rd actuator port of solenoid-operated proportional change-over valve 101, solenoid-operated proportional change-over valve 101 is example for three position four-way directional control valve, illustrates the working process of the principal arm luffing control system that the present embodiment provides:
Promote luffing bar handle to start to carry out principal arm luffing whereabouts, the electromagnet Y2 of solenoid-operated proportional the change-over valve 101 and Y3 of guide's solenoid-operated proportional reducing valve 7 obtains electric, simultaneously current sensing means 8 starts to detect the control electric current of guide's solenoid-operated proportional reducing valve 7 and is sent to control setup 10, the pressure oil of oil sources is through uniform-pressure-drop valve 102, the oil inlet P of solenoid-operated proportional change-over valve 101, actuator port A enters oil passage AD when luffing falls, and then enter the rod chamber 21 of amplitude oil cylinder 2, simultaneously the control fluid of guide's solenoid-operated proportional reducing valve 7 promotes the first balance cock 6 and opens, pressure oil in rodless cavity 22 is through the first balance cock 6 oil sump tank 12, amplitude oil cylinder 2 luffing is transferred and is driven principal arm to fall, along with the aperture of luffing bar handle constantly reduces, the control electric current of solenoid-operated proportional change-over valve 101 and the control current synchronization of guide's solenoid-operated proportional reducing valve 7 reduce, the flow entering the pressure oil in the rod chamber 21 of amplitude oil cylinder 2 constantly reduces, and principal arm falling speed reduces,
The control electric current of guide's solenoid-operated proportional reducing valve 7 that control setup 10 real-time reception current sensing means 8 detects, when control setup 10 judges that the control electric current of guide's solenoid-operated proportional reducing valve 7 is less than or equal to the 4th setting electric current, export start signal to solenoid directional control valve (switch valve 3), the electromagnet Y4 of solenoid directional control valve obtains electric, and solenoid directional control valve is opened;
Now, the fluid part entering oil passage AD through solenoid-operated proportional change-over valve 101 enters the rod chamber 21 of amplitude oil cylinder 2, and another part flows back to fuel tank 12 by the switch valve 3 (solenoid directional control valve 3) of pressure release branch road and back pressure valve 4;
Until bar handle continues the direction action towards reducing handle aperture, stop action to principal arm.
In order to be convenient to the working process understanding the present embodiment further, as shown in figure 11, in the present embodiment, the control method flow process of control setup 10 is as follows:
Step 1101: the control electric current receiving guide's solenoid-operated proportional reducing valve;
Step 1102: judge whether the control electric current of guide's solenoid-operated proportional reducing valve is less than or equal to the 4th setting electric current, if so, performs step 1103, otherwise, continue to perform step 1102;
Step 1103: export start signal to solenoid directional control valve, solenoid directional control valve is opened.
From above-mentioned working process, the principal arm luffing control system that the present embodiment provides is when carrying out the arbitrarily angled luffing drop action of principal arm, be divided into the control that principal arm falls: first stage is two stages, when the control electric current of first conductive magnetism proportional pressure-reducing valve 7 is greater than the 4th setting electric current, solenoid directional control valve 3 cuts out, and principal arm hurtles down with mode playback under power; Subordinate phase is, when the control electric current of first conductive magnetism proportional pressure-reducing valve 7 is less than or equal to the 4th setting electric current, solenoid directional control valve 3 is opened, and principal arm falls to stopping with " at a slow speed-low pressure " pattern, the pressure p in the rod chamber 21 of now amplitude oil cylinder 2 1very little (close to zero pressure), therefore the present embodiment effectively can prevent at the arbitrarily angled luffing drop action of principal arm and occur that luffing impacts in this process that again hoists, the generation of the situations such as principal arm trembles or swing arm trembles, thus improve the safe reliability of hoisting crane.
It should be noted that, the occurrence of the 3rd setting electric current and the 4th setting electric current is not limit, determine according to the structure of principal arm luffing control system and the jib structure of hoisting crane, make principal arm can comparatively fast complete luffing action as far as possible and stop fall time amplitude oil cylinder rod chamber in pressure very little (close to zero).
Further, on the basis of previous embodiment, as shown in figure 12, the automatically controlled ratio driving source change-over valve group in the principal arm luffing control system that eighth embodiment of the invention provides comprises: solenoid-operated proportional change-over valve 101; Be arranged at the uniform-pressure-drop valve 102 at the oil inlet place of solenoid-operated proportional change-over valve 101, uniform-pressure-drop valve 102 has the first control port H and the second control port I, first control port H is connected with the oil inlet of solenoid-operated proportional change-over valve 101, and the second control port I is connected with the 3rd actuator port F of solenoid-operated proportional change-over valve 101; Shuttle valve 103, be arranged on the oil circuit between the second control port I of uniform-pressure-drop valve 102 and the 3rd actuator port F of solenoid-operated proportional change-over valve 101, wherein, first oil inlet of shuttle valve 103 is connected with the 3rd actuator port F of solenoid-operated proportional change-over valve 101, the oil outlet of shuttle valve 103 is connected with the second control port I of uniform-pressure-drop valve 102, and the second oil inlet of shuttle valve 103 is connected with the 4th actuator port G of solenoid-operated proportional change-over valve 101.
In the process that the principal arm luffing control system that the present embodiment provides can not only fall at principal arm, power is divided into descend mode playback and two stages of " at a slow speed-low pressure " pattern fast to the control that principal arm falls, and when principal arm hoists, the attitude that also can hoist according to principal arm is divided into power fast lifting pattern and two stages of " hoisting at a slow speed " pattern to the control that principal arm hoists, thus greatly improve the safe reliability of hoisting crane, Applicable scope is more extensive, such as, when principal arm hoists by when arriving final position, because the control electric current of now solenoid-operated proportional change-over valve is proportional with the flow of the fluid entering rodless cavity, therefore control electric current now can be regulated, and then regulate the flow entering the fluid of rodless cavity, to make principal arm at a slow speed close to final position, thus prevent the generation of potential safety hazards such as suddenly stopping.
Further, on the basis of aforementioned third embodiment to the 8th embodiment, and with reference to shown in Fig. 7, Fig. 8, Figure 10 and Figure 11, control setup 10 in the principal arm luffing control system that ninth embodiment of the invention provides, also for when the control electric current of automatically controlled ratio driving source change-over valve group equals zero, export closing signal to solenoid directional control valve, control solenoid directional control valve and close; Or, when also equalling zero for the control electric current of conductive magnetism proportional pressure-reducing valve 7 in the ban, export closing signal to solenoid directional control valve, control solenoid directional control valve and close.
The control electric current of automatically controlled ratio driving source change-over valve group equals zero or the control electric current of guide's solenoid-operated proportional reducing valve 7 equals zero, at the end of namely principal arm luffing falls, with reference to step 707 ~ step 708, step 807 ~ step 808, step 1004 ~ 1005, step 1104 ~ 1105, export closing signal, the electromagnet Y4 dead electricity of solenoid directional control valve, solenoid directional control valve cuts out, therefore the principal arm luffing control system that provides of the present embodiment, open due to solenoid directional control valve when can prevent next principal arm luffing from falling further and cause the fluid oil-feed in rod chamber slower, principal arm power cannot be realized and descend mode playback fast.
It should be noted that, the first actuator port of foregoing individual embodiments, the second actuator port, the 3rd actuator port and the 4th actuator port, only for distinguishing different actuator ports, are not limited to the quantity of the actuator port on each valve body; Foregoing individual embodiments of the present invention can combination in any as required, to have corresponding function and effect.
As shown in figure 12, be the principal arm luffing control system that the tenth embodiment of the invention obtained after foregoing individual embodiments superposition provides, comprise:
Ratio driving source change-over valve group 1 and amplitude oil cylinder 2, wherein, ratio driving source change-over valve group 1 have make the first actuator port A and the second actuator port B respectively with the first control position of oil inlet P and oil return inlet T conducting, and make the first actuator port A and the second actuator port B respectively with the second control position of oil return inlet T and oil inlet P conducting, the oil inlet that ratio main reversing valve is 1 group is connected with pressure oil circuit, and the return opening of ratio driving source change-over valve group 1 is connected with oil return line;
First actuator port of ratio driving source change-over valve group 1 is connected with the rod chamber 21 of amplitude oil cylinder 2, and the second actuator port is connected with the rodless cavity 22 of amplitude oil cylinder 2;
This principal arm luffing control system also comprises: switch valve 3 and back pressure valve 4, and the oil inlet of switch valve 3 is connected to oil passage when luffing falls, and the oil outlet of switch valve 3 is connected with the oil inlet of back pressure valve 4, and the oil outlet of back pressure valve 4 is connected to oil return line;
Control oil sources 5, first balance cock 6 and guide's solenoid-operated proportional reducing valve 7, wherein, first balance cock 6 is arranged on oil return line when luffing falls, the control port of the first balance cock 6 is connected with the oil outlet of guide's solenoid-operated proportional reducing valve 7, controls oil sources 5 and is connected with the oil inlet of guide's solenoid-operated proportional reducing valve 7;
The control port being arranged at the second balance cock 11, second balance cock 11 in oil passage when luffing falls is connected with the second actuator port B;
Wherein, switch valve 3 is solenoid directional control valve 3;
Ratio driving source change-over valve group 1 comprises: solenoid-operated proportional change-over valve 101, shuttle valve 103, and is arranged at the uniform-pressure-drop valve 102 at oil inlet place of solenoid-operated proportional change-over valve 101; Wherein, uniform-pressure-drop valve 102 has the first control port H and the second control port I, first control port H is connected with the oil inlet of solenoid-operated proportional change-over valve 101, first oil inlet of shuttle valve 103 is connected with the 3rd actuator port F of solenoid-operated proportional change-over valve 101 and is connected with the second control port I of uniform-pressure-drop valve 102 with the oil outlet of shuttle valve 103, and the second oil inlet of shuttle valve 103 is connected with the 4th actuator port G of solenoid-operated proportional change-over valve 101; The control electric current of the control electric current composition driving source change-over valve group of solenoid-operated proportional change-over valve 101;
Current sensing means 8, for detecting the control electric current of solenoid-operated proportional change-over valve 101;
Angle detection device 9, for detecting the angle of principal arm and horizontal surface;
Control setup 10, respectively with solenoid-operated proportional change-over valve 101, guide's solenoid-operated proportional reducing valve 7, current sensing means 8 is connected with angle detection device 9 signal, for being less than or equal to setting angle when the angle of principal arm and horizontal surface, and the control electric current of solenoid-operated proportional change-over valve 101 is when being greater than the first setting electric current, export start signal to solenoid directional control valve, control solenoid directional control valve is opened, and export the first current modifying signal respectively to solenoid-operated proportional change-over valve, the control electric current of adjustment solenoid-operated proportional change-over valve 101 equals the first setting electric current, export the second current modifying signal to guide's solenoid-operated proportional reducing valve 7, the control electric current of adjustment guide solenoid-operated proportional reducing valve 7 equals the second setting electric current, and when the angle of principal arm and horizontal surface is less than or equal to setting angle, and when the control electric current of solenoid-operated proportional change-over valve 101 is less than or equal to the first setting electric current, export start signal to solenoid directional control valve, control solenoid directional control valve and open, during for being less than or equal to the 3rd setting electric current when the control electric current of solenoid-operated proportional change-over valve, export start signal to solenoid directional control valve, control solenoid directional control valve and open, for when the control electric current of solenoid-operated proportional change-over valve 101 equals zero, export closing signal to solenoid directional control valve, control solenoid directional control valve and close.
When promotion luffing bar handle starts principal arm luffing whereabouts, the electromagnet Y2 of solenoid-operated proportional the change-over valve 101 and Y3 of guide's solenoid-operated proportional reducing valve 7 obtains electric, the control method flow process with reference to control setup 10 in the present embodiment shown in Figure 13:
Step 1301: the angle receiving principal arm and horizontal surface;
Step 1302: the control electric current receiving solenoid-operated proportional change-over valve;
Step 1303: judge whether the angle of principal arm and horizontal surface is less than or equal to setting angle, if so, performs step 1304, otherwise, continue to perform step 1303;
Step 1304: judge whether the control electric current of solenoid-operated proportional change-over valve is greater than the first setting electric current, if so, performs step 1306, otherwise, perform step 1305;
Step 1305: export start signal to solenoid directional control valve, controls solenoid directional control valve and opens;
Step 1306: export the first current modifying signal respectively to solenoid-operated proportional change-over valve, the control electric current of adjustment solenoid-operated proportional change-over valve equals the first setting electric current, export the second current modifying signal to guide's solenoid-operated proportional reducing valve, the control electric current of adjustment guide solenoid-operated proportional reducing valve equals the second setting electric current; Perform step 1305;
Step 1307: judge whether the control electric current of solenoid-operated proportional change-over valve is less than or equal to the 3rd setting electric current, if so, performs step 1305, otherwise, continue to perform step 1307;
Step 1308: judge whether the control electric current of solenoid-operated proportional change-over valve equals zero, if so, performs step 1309, otherwise, continue to perform step 1308;
Step 1309: export closing signal to solenoid directional control valve, controls solenoid directional control valve and closes.
It should be noted that, operating handle is with arbitrary speed and acceleration/accel towards the direction action that aperture reduces, and control setup performs the process of step 1301 ~ step 1309 all the time; Both step 1301 and step 1302 can synchronously perform; Both step 1307 and step 1303 can be synchronous execution.
From aforementioned, first setting electric current, the setting of the second setting electric current and the 3rd setting electric current is all less, that is when switch valve is opened, the speed that principal arm luffing falls very low (being namely in the phase buffer before luffing action stopping), the flow now entering oil passage AD section through automatically controlled ratio driving source change-over valve group is less, therefore, the flow laid down from emptying branch road DE section is also less, effectively can ensure that the flow entering rod chamber is sufficient and pressure is very low, and the pipeline latus rectum of emptying branch road DE section (i.e. fluid pass through diameter) is very little just can meet the demands, the space taken is less, cost is lower, install simple, such as, the pipeline latus rectum of emptying branch road DE section is 8mm ~ 15mm,
To sum up, from the structure of principal arm luffing control system and the workflow of control setup of the present embodiment, return the vehicle to the garage and knock off in process in principal arm luffing whereabouts or car load, principal arm luffing falls to comprising power and transfers the pattern of hurtling down and two stages of " at a slow speed-low pressure " whereabouts pattern, thus make principal arm luffing fall stop time amplitude oil cylinder rod chamber in pressure very little (close to zero), luffing impact condition when effectively prevent principal arm luffing hoists again, and extrude because of maloperation the situation generation that vehicle frame supporting mechanism causes the distortion such as vehicle frame, substantially increase stationarity and the safe reliability of crane amplitude variation operation, above-mentioned two stages can also be divided into by the control electric current detecting guide's solenoid-operated proportional reducing valve to the control that principal arm falls in certain the present embodiment, do not repeat them here,
Further, adopt principal arm luffing control system provided by the invention, be in normal off condition when pressure release branch road get out of hand, then the now control of principal arm luffing control system provided by the invention to principal arm luffing is equivalent to mode playback under power of the prior art; Normally on is in when pressure release branch road get out of hand, pipeline latus rectum then now due to pressure release branch road is very little, dredge oil amount is very little, the impact of transferring the first stage of the pattern of hurtling down to principal arm luffing medium power to principal arm luffing control system provided by the invention is lower, can also realize the subordinate phase of " at a slow speed-low pressure " whereabouts pattern simultaneously.Therefore, compared to prior art, adopt principal arm luffing control system provided by the invention to increase potential safety hazard, safe reliability is higher.
Certainly, above-described embodiment is only the present invention's preferably a kind of embodiment, and as shown in figure 14, eleventh embodiment of the invention also provides a kind of principal arm luffing control system, comprising:
Ratio driving source change-over valve group 1 and amplitude oil cylinder 2, wherein, ratio driving source change-over valve group 1 have make the first actuator port A and the second actuator port B respectively with the first control position of oil inlet P and oil return inlet T conducting, and make the first actuator port A and the second actuator port B respectively with the second control position of oil return inlet T and oil inlet P conducting, the oil inlet that ratio main reversing valve is 1 group is connected with pressure oil circuit, and the return opening of ratio driving source change-over valve group 1 is connected with oil return line;
First actuator port of ratio driving source change-over valve group 1 is connected with the rod chamber 21 of amplitude oil cylinder 2, and the second actuator port is connected with the rodless cavity 22 of amplitude oil cylinder 2;
This principal arm luffing control system also comprises: switch valve 3 and back pressure valve 4, and the oil passage that the oil inlet of switch valve 3 is connected to when luffing falls is connected with the oil inlet of back pressure valve 4 with switch valve 3 oil outlet, and the oil outlet of back pressure valve 4 is connected to oil return line;
Control oil sources 5, first balance cock 6 and guide's solenoid-operated proportional reducing valve 7, wherein, first balance cock 6 is arranged on oil return line when luffing falls, the control port of the first balance cock 6 is connected with the oil outlet of guide's solenoid-operated proportional reducing valve 7, controls oil sources 5 and is connected with the oil inlet of guide's solenoid-operated proportional reducing valve 7;
The control port being arranged at the second balance cock 11, second balance cock 11 in oil passage when luffing falls is connected with the second actuator port B;
Wherein, switch valve 3 is solenoid directional control valve 3;
Ratio driving source change-over valve group 1 comprises: switching regulator solenoid directional control valve 104 and Electric Proportional variable-volume pump 105, and wherein, the oil outlet of Electric Proportional variable-volume pump 105 is connected with the oil inlet of switching regulator solenoid directional control valve 104; The oil suction of Electric Proportional variable-volume pump 105 is the oil inlet of automatically controlled ratio driving source change-over valve group, and the control electric current (namely the electric current at electromagnet Y5 place) of Electric Proportional variable-volume pump 105 forms the control electric current of automatically controlled ratio driving source change-over valve group;
Current sensing means (not shown), for detecting the control electric current of Electric Proportional variable-volume pump 105;
Angle detection device (not shown), for detecting the angle of principal arm and horizontal surface;
Control setup (not shown), respectively with Electric Proportional variable-volume pump 105, guide's solenoid-operated proportional reducing valve 7, current sensing means is connected with angular sensing means signal, for being less than or equal to setting angle when the angle of principal arm and horizontal surface, and the control electric current of Electric Proportional variable-volume pump 105 is when being greater than the first setting electric current, export start signal to solenoid directional control valve, control solenoid directional control valve is opened, and export the first current modifying signal respectively to Electric Proportional variable-volume pump 105, the control electric current of adjustment Electric Proportional variable-volume pump 105 equals the first setting electric current, export the second current modifying signal to guide's solenoid-operated proportional reducing valve 7, the control electric current of adjustment guide solenoid-operated proportional reducing valve 7 equals the second setting electric current, and when the angle of principal arm and horizontal surface is less than or equal to setting angle, and when the control electric current of Electric Proportional variable-volume pump 105 is less than or equal to the first setting electric current, export start signal to solenoid directional control valve, control solenoid directional control valve and open, during for being less than or equal to the 3rd setting electric current when the control electric current of Electric Proportional variable-volume pump 105, export start signal to solenoid directional control valve, control solenoid directional control valve and open, for when the control electric current of Electric Proportional variable-volume pump 105 equals zero, export closing signal to solenoid directional control valve, control solenoid directional control valve and close.
The beneficial effect of the principal arm luffing control system that the present embodiment provides is identical with aforementioned tenth embodiment, does not repeat them here.
As shown in figure 15, twelveth embodiment of the invention also provides a kind of principal arm luffing control system, comprising:
Ratio driving source change-over valve group 1 and amplitude oil cylinder 2, wherein, ratio driving source change-over valve group 1 have make the first actuator port A and the second actuator port B respectively with the first control position of oil inlet P and oil return inlet T conducting, and make the first actuator port A and the second actuator port B respectively with the second control position of oil return inlet T and oil inlet P conducting, the oil inlet that ratio main reversing valve is 1 group is connected with pressure oil circuit, and the return opening of ratio driving source change-over valve group 1 is connected with oil return line;
First actuator port of ratio driving source change-over valve group 1 is connected with the rod chamber 21 of amplitude oil cylinder 2 and is connected with the rodless cavity 22 of amplitude oil cylinder 2 with the second actuator port;
This principal arm luffing control system also comprises: switch valve 3 and back pressure valve 4, and the oil passage that the oil inlet of switch valve 3 is connected to when luffing falls is connected with the oil inlet of back pressure valve 4 with the oil outlet of switch valve 3, and the oil outlet of back pressure valve 4 is connected to oil return line;
Control oil sources 5, first balance cock 6 and guide's solenoid-operated proportional reducing valve 7, wherein, first balance cock 6 is arranged on oil return line when luffing falls, the control port of the first balance cock 6 is connected with the oil outlet of guide's solenoid-operated proportional reducing valve 7, controls oil sources 5 and is connected with the oil inlet of guide's solenoid-operated proportional reducing valve 7;
The control port being arranged at the second balance cock 11, second balance cock 11 in oil passage when luffing falls is connected with the second actuator port B;
Wherein, switch valve 3 is solenoid directional control valve 3;
Ratio driving source change-over valve group 1 comprises: switching regulator pilot operated directional control valve 106 and Electric Proportional variable-volume pump 105, and wherein, the oil outlet of Electric Proportional variable-volume pump 105 is connected with the oil inlet of switching regulator pilot operated directional control valve 106; The oil suction of Electric Proportional variable-volume pump 105 is the oil inlet of automatically controlled ratio driving source change-over valve group, the control electric current (namely the electric current at electromagnet Y5 place) of Electric Proportional variable-volume pump 105 forms the control electric current of automatically controlled ratio driving source change-over valve group, and the control mouth of switching regulator pilot operated directional control valve is connected with oil circuit control;
Current sensing means (not shown), for detecting the control electric current of Electric Proportional variable-volume pump 105;
Angle detection device (not shown), for detecting the angle of principal arm and horizontal surface;
Control setup (not shown), respectively with Electric Proportional variable-volume pump 105, guide's solenoid-operated proportional reducing valve 7, current sensing means is connected with angular sensing means signal, for being less than or equal to setting angle when the angle of principal arm and horizontal surface, and the control electric current of Electric Proportional variable-volume pump 105 is when being greater than the first setting electric current, export start signal to solenoid directional control valve, control solenoid directional control valve is opened, and export the first current modifying signal respectively to Electric Proportional variable-volume pump 105, the control electric current of adjustment Electric Proportional variable-volume pump 105 equals the first setting electric current, export the second current modifying signal to guide's solenoid-operated proportional reducing valve 7, the control electric current of adjustment guide solenoid-operated proportional reducing valve 7 equals the second setting electric current, and when the angle of principal arm and horizontal surface is less than or equal to setting angle, and when the control electric current of Electric Proportional variable-volume pump 105 is less than or equal to the first setting electric current, export start signal to solenoid directional control valve, control solenoid directional control valve and open, during for being less than or equal to the 3rd setting electric current when the control electric current of Electric Proportional variable-volume pump 105, export start signal to solenoid directional control valve, control solenoid directional control valve and open, for when the control electric current of Electric Proportional variable-volume pump 105 equals zero, export closing signal to solenoid directional control valve, control solenoid directional control valve and close.
The beneficial effect of the principal arm luffing control system that the present embodiment provides is identical with aforementioned tenth embodiment, does not repeat them here.
Thriteenth embodiment of the invention additionally provides a kind of hoisting crane, comprise the principal arm luffing control system that aforementioned any embodiment provides, because this principal arm luffing control system can improve the safe reliability that principal arm luffing controls under the various operating mode of hoisting crane, the safe reliability therefore with the crane job of this principal arm luffing control system is higher, especially, when hoisting crane is super-tonnage crane, above-mentioned beneficial effect is particularly evident.
Obviously, those skilled in the art can carry out various change and modification to the present invention and not depart from the spirit and scope of the present invention.Like this, if these amendments of the present invention and modification belong within the scope of the claims in the present invention and equivalent technologies thereof, then the present invention is also intended to comprise these change and modification.

Claims (15)

1. the principal arm luffing control system of a hoisting crane, it is characterized in that, comprise: ratio driving source change-over valve group and amplitude oil cylinder, wherein, described ratio driving source change-over valve group have make the first actuator port and the second actuator port respectively with the first control position of oil inlet and return opening conducting, and make the first actuator port and the second actuator port respectively with the second control position of return opening and oil inlet conducting, the oil inlet of described ratio driving source change-over valve group is connected with pressure oil circuit, and the return opening of described ratio driving source change-over valve group is connected with oil return line;
First actuator port of ratio driving source change-over valve group is connected with the rod chamber of amplitude oil cylinder, and the second actuator port is connected with the rodless cavity of amplitude oil cylinder;
Described principal arm luffing control system also comprises: switch valve and back pressure valve, and the oil inlet of described switch valve is connected to oil passage when luffing falls, and the oil outlet of described switch valve is connected with the oil inlet of back pressure valve, and the oil outlet of described back pressure valve is connected to oil return line.
2. principal arm luffing control system as claimed in claim 1, it is characterized in that, also comprise: control oil sources, the first balance cock and guide's solenoid-operated proportional reducing valve, wherein, described first balance cock is arranged on oil return line when luffing falls, the control port of described first balance cock is connected with the oil outlet of described guide's solenoid-operated proportional reducing valve, and the oil inlet of described guide's solenoid-operated proportional reducing valve is connected with described control oil sources.
3. principal arm luffing control system as claimed in claim 2, it is characterized in that, described ratio driving source change-over valve group is automatically controlled ratio driving source change-over valve group; Described switch valve is solenoid directional control valve;
Described principal arm luffing control system also comprises:
Principal arm luffing parameter detection device, for detecting described principal arm luffing parameter;
Described control setup, be connected with described principal arm luffing parameter detection device and described electromagnetic switch valve signal respectively, for exporting start signal according to the comparative result of detected principal arm luffing parameter and setup parameter to described solenoid directional control valve, controlling described solenoid directional control valve and opening.
4. principal arm luffing control system as claimed in claim 3, it is characterized in that, described principal arm luffing parameter detection device comprises angle detection device and current sensing means; Described principal arm luffing parameter comprises the angle of principal arm that described angle detection device detects and horizontal surface, and the control electric current of the described automatically controlled ratio driving source change-over valve group that detects of described current sensing means or described guide's solenoid-operated proportional reducing valve; Described setup parameter comprises the setting angle corresponding with the angle of horizontal surface to the principal arm of described detection, and corresponding to the automatically controlled ratio driving source change-over valve group of described detection or the control electric current of described guide's solenoid-operated proportional reducing valve first sets current threshold.
5. principal arm luffing control system as claimed in claim 4, is characterized in that,
Described control setup, also be connected with described automatically controlled ratio driving source change-over valve group and described guide's solenoid-operated proportional reducing valve signal respectively, specifically for being less than or equal to setting angle when the angle of described principal arm and horizontal surface, and the control electric current of described automatically controlled ratio driving source change-over valve group or described guide's solenoid-operated proportional reducing valve be greater than corresponding first setting current threshold time, export the first current modifying signal/the second current modifying signal respectively to described automatically controlled ratio driving source change-over valve group/described guide's solenoid-operated proportional reducing valve, the control electric current adjusting described automatically controlled ratio driving source change-over valve group/described guide's solenoid-operated proportional reducing valve equals corresponding first setting current threshold, and export start signal to described solenoid directional control valve, control described solenoid directional control valve to open, when the angle of described principal arm and horizontal surface is less than or equal to setting angle, and the control electric current of described automatically controlled ratio driving source change-over valve group or described guide's solenoid-operated proportional reducing valve be less than or equal to corresponding first setting current threshold time, export start signal to described solenoid directional control valve, control described solenoid directional control valve and open.
6. principal arm luffing control system as claimed in claim 3, is characterized in that, also comprise the second balance cock in oil passage when being arranged at luffing whereabouts, the control port of described second balance cock is connected with described second actuator port.
7. principal arm luffing control system as claimed in claim 6, it is characterized in that, described principal arm luffing parameter detection device is current sensing means, the control electric current of the described automatically controlled ratio driving source change-over valve group that described principal arm luffing parameter detects for described current sensing means or described guide's solenoid-operated proportional reducing valve, described setup parameter is the corresponding second setting current threshold of described automatically controlled ratio driving source change-over valve group or described guide's solenoid-operated proportional reducing valve;
Described control setup, during specifically for being less than or equal to corresponding second setting current threshold when the control electric current of described automatically controlled ratio driving source change-over valve group or described guide's solenoid-operated proportional reducing valve, export start signal to described solenoid directional control valve, control described solenoid directional control valve and open.
8. the principal arm luffing control system as described in claim 4 or 5, is characterized in that, also comprise the second balance cock in oil passage when being arranged at luffing whereabouts, the control port of described second balance cock is connected with described second actuator port.
9. principal arm luffing control system as claimed in claim 8, it is characterized in that, described control setup, time also for being less than or equal to corresponding second setting current threshold when the control electric current of described automatically controlled ratio driving source change-over valve group or described guide's solenoid-operated proportional reducing valve, export start signal to described solenoid directional control valve, control described solenoid directional control valve and open.
10. the principal arm luffing control system as described in as arbitrary in claim 3 ~ 9, it is characterized in that, described control setup, also for when the control electric current of described automatically controlled ratio driving source change-over valve group or described guide's solenoid-operated proportional reducing valve equals zero, export closing signal to described solenoid directional control valve, control described solenoid directional control valve and close.
11. principal arm luffing control system as claimed in claim 3, is characterized in that, described automatically controlled ratio driving source change-over valve group comprises:
Solenoid-operated proportional change-over valve, the 3rd actuator port of described solenoid-operated proportional change-over valve and the 4th actuator port correspond to the first actuator port and second actuator port of described ratio driving source change-over valve group respectively;
Be arranged at the uniform-pressure-drop valve at the oil inlet place of described solenoid-operated proportional change-over valve, described uniform-pressure-drop valve has the first control port and the second control port, described first control port is connected with the oil inlet of described solenoid-operated proportional change-over valve, described second control port is connected with the 3rd actuator port of described solenoid-operated proportional change-over valve, and the control electric current of described solenoid-operated proportional change-over valve forms the control electric current of described automatically controlled ratio driving source change-over valve group.
12. want the principal arm luffing control system as described in 9 as right, it is characterized in that, described automatically controlled ratio driving source change-over valve group also comprises: shuttle valve, be arranged on the oil circuit between the second control port of described uniform-pressure-drop valve and the 3rd actuator port of described solenoid-operated proportional change-over valve, wherein, first oil inlet of described shuttle valve is connected with the 3rd actuator port of described solenoid-operated proportional change-over valve, the oil outlet of described shuttle valve is connected with the second control port of described uniform-pressure-drop valve, and the second oil inlet of described shuttle valve is connected with the 4th actuator port of described solenoid-operated proportional change-over valve.
13. principal arm luffing control system as claimed in claim 3, it is characterized in that, described automatically controlled ratio driving source change-over valve group comprises: switching regulator solenoid directional control valve and Electric Proportional variable-volume pump, wherein, the oil outlet of described Electric Proportional variable-volume pump is connected with the oil inlet of described switching regulator solenoid directional control valve;
The oil suction of described Electric Proportional variable-volume pump is the oil inlet of described automatically controlled ratio driving source change-over valve group, and the control electric current of described Electric Proportional variable-volume pump forms the control electric current of described automatically controlled ratio driving source change-over valve group.
14. principal arm luffing control system as claimed in claim 3, it is characterized in that, described automatically controlled ratio driving source change-over valve group comprises: switching regulator pilot operated directional control valve and Electric Proportional variable-volume pump, wherein, the oil outlet of described Electric Proportional variable-volume pump is connected with the oil inlet of described switching regulator pilot operated directional control valve;
The oil suction of described Electric Proportional variable-volume pump is the oil inlet of described automatically controlled ratio driving source change-over valve group, and the control electric current of described Electric Proportional variable-volume pump forms the control electric current of described automatically controlled ratio driving source change-over valve group.
15. 1 kinds of hoisting cranes, is characterized in that, comprise the principal arm luffing control system as described in any one of claim 1 ~ 14.
CN201410798588.XA 2014-12-19 2014-12-19 Main arm variable amplitude controlling system for crane and crane Active CN104528555B (en)

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